System for generating multi-strategy track in high-precision map based on PID (Proportion Integration Differentiation) control

Abstract

The invention belongs to the technical field of automatic driving simulation testing, and particularly relates to a system for generating a multi-strategy track in a high-precision map based on PID control. The system comprises a vehicle control module, a lane control module, a global control module and a high-precision map module, the lane control module is connected with the vehicle control module, the global control module is connected with the lane control module, and the high-precision map module is connected with the global control module; through a PID control algorithm and a heuristic rule, generation of various strategy trajectories of the vehicle in an automatic driving simulation scene can be realized, including strategies of acceleration, deceleration, straight movement keeping and left and right lane changing. According to the invention, various strategy trajectories are generated and are close to a real scene.

Description

Technical Field

[0001] The present invention belongs to the technical field of autonomous driving simulation testing, and specifically relates to a system for generating multi-strategy trajectories using high-precision map information and a PID control algorithm. Background Art

[0002] Simulation testing is an essential part of autonomous driving technology. Its purpose is to use a virtual environment to simulate a real environment and verify the algorithm performance of autonomous driving vehicles. In simulation testing, the virtual environment needs to provide not only accurate map information, but also simulated information of traffic participants, including vehicles and pedestrians. These traffic participants need to follow a certain route and interact with each other to make reasonable decisions, so as to provide a simulation environment closer to reality for autonomous driving vehicles. Summary of the invention

[0003] The object of the present invention is to provide a system for generating multi-strategy trajectories in a high-precision map based on PID control, which can efficiently generate trajectories under multiple strategies for all vehicles in a traffic scene.

[0004] The system for generating multi-strategy trajectories in a high-precision map based on PID control provided by the present invention generates trajectories under multiple strategies according to physical models and heuristic rules, which is close to real scenes; specifically, it includes a vehicle control module, a lane control module, a global control module and a high-precision map module; the global control module is connected to a number of lane control modules, the lane control module is connected to a number of vehicle control modules, and the high-precision map module is connected to the global control module; the above modules are all deployed in a computer with the system and can be called by simulation test software; wherein:

[0005] The vehicle control module is used to control the trajectory generation of a vehicle, including maintaining the current basic state of the vehicle and the information of the lane it is in (coordinates, speed, heading angle, steering wheel angle, target speed, lane, and strategy information), obtaining the vehicle information in front and behind the lane where the vehicle is located and the vehicle information in the adjacent lane from the lane control module, and generating the future state and trajectory of the vehicle based on the obtained information and the PID control method;

[0006] The lane control module is used to control the vehicle control module corresponding to the vehicle on a lane, maintain the front and rear sequence information of the vehicles on the lane, provide information interaction between different vehicles to the controlled vehicle control module, and support the interaction between the controlled vehicle control module and the global control module;

[0007] The global control module is used to control all lane control modules, obtain the coordinate information of the lane centerline from the high-precision map module, maintain the current basic status and strategy information of all vehicles, and record the generated trajectories of all vehicles;

[0008] The high-precision map module is used to import high-precision map information, use a data structure to store lane centerline information in the map information, support positioning query of the vehicle coordinates in the lane, and provide a point sequence representation of the lane centerline and adjacent lane information;

[0009] Furthermore, the vehicle control module specifically includes:

[0010] The vehicle speed PID control unit is used to obtain the vehicle's current speed v in time frame t t , and the target rate for the current time frame t Calculate the current rate s t =|v t |, based on the difference between the current rate and the target rate The rate compensation value is calculated using the PID algorithm to calculate the rate s of the next time frame. t+1 , where the coefficients of the proportional, integral, and differential terms of the PID algorithm are adjustable control parameters, denoted by S p ,S i ,S d ;

[0011] The vehicle steering wheel angle PID control unit is used to obtain the vehicle's current speed v in time frame t t , position coordinates p t , towards o t 、Steering wheel angle a t , the center line of the lane to follow c t The following model is used to calculate the future position coordinates of the vehicle based on the current state and the prediction of the vehicle in 5 time frames:

[0012]

[0013] Where Δt is the interval between adjacent time frames, which can be set to Δt = 0.1 seconds, p' t+5 is the predicted future position coordinates after 5 time frames, o t is the direction of the vehicle (i.e., the angle, with the positive direction of the x-axis in the plane rectangular coordinate system as the starting angle and the clockwise direction as the increasing direction), v t is the current speed of the vehicle, p t is the current position of the vehicle;

[0014] Then, the current position p of the vehicle is calculated using the following formula: t Distance from the center line of the lane being followed c t The closest point position p c :

[0015]

[0016] The lane centerline consists of a sequence of m two-dimensional point vectors, denoted as d is the distance p on the center line of the lane t The endpoint number of the nearest line segment; DIS(X,Y,Z) represents the distance from point X to the line segment formed by points Y and Z; CP(X,Y,Z) represents the nearest point on the line segment from point X to points Y and Z; then, the following formula is used to calculate the distance from p c The future target coordinates reached by moving along the lane centerline at the corresponding distance from the starting position

[0017]

[0018] The lane centerline consists of a sequence of m two-dimensional point vectors, denoted as Δt is the interval between adjacent time frames, v t is the current speed of the vehicle, l is the distance the vehicle will travel in the next five time frames, d is the center line of the lane c t The distance from the vehicle to the current position p t The endpoint number of the nearest line segment, L i Indicates that from p t Start and drive along the center line of the lane to the point The length of the distance traveled; e represents L d ,L d+1 …L m-1 The maximum subscript whose length does not exceed l; Indicates that from p c The future target coordinates are reached by moving l length along the center line of the lane from the position. Then, the ratio of the distance between the future position coordinates and the future target coordinates to the current speed is calculated. As the difference, the PID algorithm is used to calculate the compensation value of the steering wheel angle, thereby calculating the steering wheel angle a of the next time frame t+1 , where the coefficients of the proportional, integral, and differential terms of the PID algorithm are adjustable control parameters, denoted by A p ,A i ,A d .

[0019] The strategy trajectory generation unit is used to obtain the position and speed information of the vehicles around the current vehicle from the lane control module, and select the strategies of acceleration, deceleration, keeping straight, and changing lanes left or right for the current vehicle, adjust the target speed and target lane center line of the vehicle speed PID control unit and the vehicle steering wheel angle PID control unit, and generate the corresponding strategy trajectory; specifically:

[0020] For acceleration and deceleration strategies, the current target speed of the vehicle speed PID control unit is adjusted To achieve this, use To replace the target rate, where Δs is the target rate increment. When Δs is a positive number, it indicates an acceleration strategy, and when Δs is a negative number, it indicates a deceleration strategy.

[0021] For the strategy of keeping straight, no adjustment is made; for the strategy of changing lanes left or right, the center line of the lane currently followed by the PID control unit of the vehicle steering wheel angle is adjusted. t To achieve this, use c t Left or right lane center line c' t+1 To replace the following lane centerline;

[0022] For the current strategy of the vehicle, the heuristic rules are used to judge according to the driving status of the vehicle and the information of surrounding vehicles. When the speed of the vehicle in front of the vehicle is less than the current speed of the vehicle and there is a risk of rear-end collision, the strategy of deceleration or lane change is selected; when the speed of the vehicle in front of the vehicle is greater than the current speed of the vehicle, the strategy of acceleration or keeping straight is selected; if there are multiple feasible strategies in the current state, a random selection strategy is introduced;

[0023] Furthermore, the lane control module includes:

[0024] The vehicle management unit is used to manage the vehicle control modules corresponding to the vehicles on the lane, maintain the front and rear sequence information of the vehicles, and support operations such as adding, deleting, and querying the vehicle information on the lane;

[0025] The lane information exchange unit is used to support information exchange between different lane control modules. By maintaining a linked list structure, it maintains the numbers of the left and right adjacent lanes for each lane, thereby supporting vehicle information exchange between adjacent lanes and assisting the lane control module in generating lane change strategy trajectories.

[0026] Furthermore, the global control module includes:

[0027] The lane management unit is used to manage all lane control modules, support the creation, deletion, and query operations of lane control modules, and exchange information with all vehicle control modules through lane control modules;

[0028] The trajectory generation unit is used to call all vehicle control modules through the lane management unit. When generating the trajectory, it first selects strategies for all vehicle control modules, and then calls each vehicle control module in turn. In one call, each vehicle control module calculates the vehicle state of the next time frame based on the controlled vehicle information using the physical model. The specific formula is:

[0029]

[0030] Among them, Δt represents the interval between adjacent time frames, pt Represents the current position of the vehicle, v t Represents the current speed of the vehicle, o t Represents the current orientation angle of the vehicle, a t Represents the current steering wheel angle of the vehicle, l represents the distance between the front and rear axles of the vehicle, p t+1 Represents the position of the vehicle in the next time frame, o t+1 Represents the orientation of the vehicle in the next time frame; thereafter, the above process is iterated N times to generate a policy trajectory for N consecutive time frames. The trajectory generation unit stores the trajectory information p t+1 , p t+2 …, p t+N in the storage medium of the computer.

[0031] Furthermore, the high-precision map module includes:

[0032] A map information storage unit, including a storage medium in a computer, for storing map information, including the coordinate information of the lane centerlines in the map. Any lane centerline is composed of a sequence of two-dimensional point coordinates, represented as a polyline formed by connecting the points in the sequence in sequence;

[0033] A map information query unit, implemented by a grid data structure, for supporting efficient query operations on map information, including querying the coordinate information of the lane centerline of a specified lane, querying the adjacent lane information of a lane, and querying the lane centerline closest to the given vehicle coordinates.

[0034] A system for generating multiple policy trajectories in a high-precision map based on PID control, and the specific working process is as follows:

[0035] (1) Obtain the initialization information of the vehicle as the system input, including the coordinates, speed, orientation angle, steering wheel angle, target speed, and policy information of the vehicle;

[0036] (2) Use the high-precision map module to import map information, including the coordinate information of the lane centerlines, and locate each vehicle in its corresponding lane;

[0037] (3) Use the global control module to create lane control modules for all lanes, and use the lane control modules to create vehicle control modules for each vehicle and manage them, and generate a policy trajectory for the next time frame for each vehicle;

[0038] (4) Use the global control module to iterate multiple times to generate a policy trajectory for each vehicle for a continuous period of time.

[0039] The technical features and functional advantages of the present invention mainly include:

[0040] Through the PID control algorithm and heuristic rules, the generation of various strategic trajectories of vehicles in the autonomous driving simulation scenario is realized, including strategies of accelerating, decelerating, maintaining straight driving, and changing lanes left and right. Brief Description of the Drawings

[0041] Figure 1 It is a structural diagram of the system for generating multi-strategy trajectories in a high-precision map based on PID control proposed by the present invention.

[0042] Figure 2 It is a schematic diagram of an implementation scenario of the method for generating multi-strategy trajectories in a high-precision map based on PID control proposed by the present invention.

[0043] Figure 3 It is the simulation experiment scenario of the present invention. Detailed Embodiments

[0044] The present invention will be further introduced below through embodiments in combination with the drawings.

[0045] Figure 1 It is a structural schematic diagram of the system for generating multi-strategy trajectories in a high-precision map based on PID control proposed by the present invention. The system consists of four major modules: a vehicle control module, a lane control module, a global control module, and a high-precision map module; the lane control module is connected to the vehicle control module; the global control module is connected to the lane control module; the high-precision map module is connected to the global control module.

[0046] Figure 2 It is a schematic diagram of an implementation scenario of the method for generating multi-strategy trajectories in a high-precision map based on PID control proposed by the present invention.

[0047] In this embodiment, there are three vehicles 201, 202, and 203 in total. Among them, vehicle 202 is set as an obstacle with a speed of 0 in the scenario, and no trajectory is generated for it; the dots pointed by 204 are the strategic trajectories respectively generated by the present invention for vehicles 201 and 203: for vehicle 201, there is an obstacle blocking in front of its lane, so it generates a strategic trajectory of changing lanes to the right; for vehicle 203, there is no obstacle blocking in front of its lane, and a straight-line accelerating strategic trajectory is generated for it; the diamond points pointed by 205 and their connecting lines respectively represent the lane centerlines of the left and right two lanes going upward. Vehicle 201 originally followed the left lane centerline. During the process of generating the lane-changing strategic trajectory, vehicle 201 changed to follow the right lane centerline.

[0048] Among them, the vehicle control module includes a vehicle speed PID control unit, a vehicle steering wheel angle PID control unit, and a strategic trajectory generation unit;

[0049] The vehicle speed PID control unit is used to obtain the vehicle's current speed v in time frame t. t , and the target rate for the current time frame t where v t is a two-dimensional vector, the target rate is a scalar; further, calculate the current rate s t =|v t |, based on the difference between the current rate and the target rate The rate compensation value is calculated using the PID algorithm, and the current speed is added to the compensation value to calculate the rate s of the next time frame. t+1 , where the PID algorithm uses S p =0.1,S i =0,S d =0.01 as PID control parameter;

[0050] The vehicle steering wheel angle PID control unit is used to obtain the vehicle's current speed v in time frame t t , position coordinates p t , towards o t 、Steering wheel angle a t , the center line of the lane to follow c t etc., among which p t is the two-dimensional coordinate, o t and a t All are radians, c t A polyline represented by a sequence of two-dimensional point coordinates; Next, the future position coordinates of the vehicle predicted five time frames after the current state are calculated according to the following model:

[0051]

[0052] Where, Δt = 0.1 seconds, is the interval between adjacent time frames, p' t+5 is the predicted future position coordinates after 5 time frames, o t is the direction of the vehicle, v t is the current speed of the vehicle, p t is the current position of the vehicle; then, the computational geometry algorithm is used to calculate the current position of the vehicle p t Distance from the center line of the lane being followed c t The position of the nearest point p c , and then use computational geometry algorithms to calculate from p c Starting from the position, move forward along the center line of the lane for 5Δt·|v t | Distance to reach future target coordinates Then, the ratio of the distance between the future position coordinates and the future target coordinates to the current speed is calculated. As a gap, this ratio is used to reflect the gap between the current motion state of the vehicle and the motion state of the following lane, so as to calculate the compensation value of the steering wheel angle using the PID algorithm;

[0053] Furthermore, the steering wheel angle a of the next time frame is calculated by adding the current steering wheel angle to the steering wheel angle compensation value. t+1 , where the PID algorithm uses A p =0.5,A i =0,A d =0.02 as PID control parameter;

[0054] The strategy trajectory generating unit is used to obtain the position and speed information of the vehicles around the current vehicle from the lane control module, and select the strategies of acceleration, deceleration, keeping straight, and changing lanes left or right for the current vehicle, adjust the target speed and target lane center line of the vehicle speed PID control unit and the vehicle steering wheel angle PID control unit, and generate the corresponding strategy trajectory; specifically, Figure 2 In the scenario shown in , vehicle 201 obtains the position and speed information of vehicle 202 in front from the lane control module, determines that there is an obstacle, needs to slow down or change lanes, and selects the lane change strategy. Since there is no drivable lane on the left side of the current lane, the strategy of changing lanes to the right is selected; vehicle 203 obtains from the lane control module that there are no other vehicles in front, so the strategy of keeping going straight is selected;

[0055] Further, the lane control module includes a vehicle management unit and an inter-lane information interaction unit;

[0056] The vehicle management unit is used to manage the vehicle control modules corresponding to the vehicles on the lane, maintain the front and rear sequence information of the vehicles, and support the operations of adding, deleting, and querying the vehicle information on the lane;

[0057] The lane information interaction unit is used to support information interaction between different lane control modules. By maintaining a linked list structure, the numbers of the left and right adjacent lanes are maintained for each lane, thereby supporting vehicle information interaction between adjacent lanes and assisting the lane control module in generating a lane change strategy trajectory.

[0058] Further, the global control module includes a lane management unit and a trajectory generation unit;

[0059] The lane management unit is used to manage all lane control modules, support the creation, deletion, and query operations of lane control modules, and exchange information with all vehicle control modules through the lane control modules;

[0060] The trajectory generation unit is used to call all vehicle control modules through the lane management unit, and generate Figure 2When calculating the strategy trajectory of car 201 and car 203 in the scene, firstly, the strategy selection is performed on the vehicle control modules of car 201 and car 203, and then the vehicle control modules of car 201 and car 203 are called respectively; in one call, each vehicle control module calculates the vehicle state of the next time frame based on the information of the controlled vehicle using the physical model. The specific formula is as follows:

[0061]

[0062] Among them, Δt represents the interval between adjacent time frames, p t is a two-dimensional coordinate, indicating the current position of the vehicle, v t is a two-dimensional vector representing the current speed of the vehicle, o t is in radians, indicating the current direction of the vehicle, a t is in radians, indicating the current steering wheel angle of the vehicle, l indicates the distance between the front and rear axles of the vehicle, and p t+1 is a two-dimensional coordinate, indicating the position of the vehicle in the next time frame, o t+1 is radians, indicating the direction of the vehicle in the next time frame; after that, the above process is iterated N times to generate the strategy trajectory of N consecutive time frames. The trajectory generation unit converts the trajectory information p t+1 ,p t+2 …,p t+N Stored in the computer's storage medium.

[0063] Furthermore, the high-precision map module includes a map information storage unit and a map information query unit;

[0064] The map information storage unit includes a storage medium in a computer, which is used to store map information, including coordinate information of lane center lines in the map, where any lane center line is composed of a two-dimensional point coordinate sequence, represented as a broken line formed by sequentially connecting the points in the sequence;

[0065] The map information query unit is implemented by a grid data structure and is used to support efficient query operations on map information, including querying the coordinate information of the lane centerline of a specified lane, querying the adjacent lane information of a lane, and querying the lane centerline closest to a given vehicle coordinate.

[0066] In such Figure 3 In the simulation scenario shown, one obstacle vehicle is set to be stationary, and the remaining vehicles are controlled by a system that generates multi-strategy trajectories in a high-precision map based on PID control, as recorded in a video. The results show that normal lane change and obstacle avoidance trajectories can be generated.

Claims

1. A system for generating multi-strategy trajectories in a high-precision map based on PID control, characterized in that: According to the physical model and heuristic rules, a variety of strategic trajectories are generated, which are close to the real scene; specifically, it includes a vehicle control module, a lane control module, a global control module and a high-precision map module; the global control module is connected to several lane control modules, the lane control module is connected to several vehicle control modules, and the high-precision map module is connected to the global control module; the above modules are deployed in the computer with the system for the simulation test software to call; wherein: The vehicle control module is used to control the trajectory generation of a vehicle, including maintaining the current basic state of the vehicle and the information of the lane it is in. The vehicle state information includes coordinates, speed, heading angle, steering wheel angle, target speed, and lane and strategy information. The vehicle information before and after the lane where the vehicle is located and the vehicle information of the adjacent lane are obtained from the lane control module, and the future state and trajectory of the vehicle are generated based on the obtained information and the PID control method. The lane control module is used to control the vehicle control module corresponding to the vehicle on a lane, maintain the front and rear sequence information of the vehicles on the lane, provide information interaction between different vehicles to the controlled vehicle control module, and support the interaction between the controlled vehicle control module and the global control module; The global control module is used to control all lane control modules, obtain the coordinate information of the lane centerline from the high-precision map module, maintain the current basic status and strategy information of all vehicles, and record the generated trajectories of all vehicles; The high-precision map module is used to import high-precision map information, use a data structure to store lane centerline information in the map information, support positioning query of vehicle coordinates on the lane in which the vehicle is located, and provide a point sequence representation of the lane centerline and adjacent lane information of the lane.

2. According to claim 1, the system for generating multi-strategy trajectories in a high-precision map based on PID control is characterized in that: The vehicle control module specifically includes: The vehicle speed PID control unit is used to obtain the vehicle's current speed v in time frame t t , and the target rate for the current time frame t Calculate the current rate s t =|v t |, based on the difference between the current rate and the target rate The rate compensation value is calculated using the PID algorithm to calculate the rate s of the next time frame. t+1 , where the coefficients of the proportional, integral, and differential terms of the PID algorithm are adjustable control parameters, denoted by S p ,S i ,S d ; The vehicle steering wheel angle PID control unit is used to obtain the vehicle's current speed v in time frame t t , position coordinates p t , towards o t 、Steering wheel angle a t , the center line of the lane to follow c t , the future position coordinates of the vehicle predicted 5 time frames after the current state are calculated according to the following model: Among them, Δt is the interval between adjacent time frames, p' t+5 is the predicted future position coordinates after 5 time frames, o t is the vehicle's heading angle, v t is the current speed of the vehicle, p t is the current position of the vehicle; Then, the current position of the vehicle p is calculated using the following formula: t Distance from the center line of the lane being followed c t The closest point position p c : The lane centerline consists of a sequence of m two-dimensional point vectors, denoted as d is the distance p on the center line of the lane t The endpoint number of the nearest line segment; DIS(X,Y,Z) represents the distance from point X to the line segment formed by points Y and Z; CP(X,Y,Z) represents the nearest point on the line segment from point X to points Y and Z; then, the following formula is used to calculate the distance from p c The future target coordinates reached by moving along the lane centerline at the corresponding distance from the starting position The lane centerline consists of a sequence of m two-dimensional point vectors, denoted as Δt is the interval between adjacent time frames, v t is the current speed of the vehicle, l is the distance the vehicle will travel in the next five time frames, d is the center line of the lane c t The distance from the vehicle to the current position p t The endpoint number of the nearest line segment, L i Indicates that from p t Start and drive along the center line of the lane to the point The length of the distance traveled; e represents L d ,L d+1 …L m-1 The maximum subscript whose length does not exceed l; Indicates that from p c The future target coordinates reached by moving along the lane centerline for a length of l from the position; then, the ratio of the distance between the future position coordinates and the future target coordinates to the current speed is calculated. As the difference, the PID algorithm is used to calculate the compensation value of the steering wheel angle, thereby calculating the steering wheel angle a of the next time frame t+1 , where the coefficients of the proportional, integral, and differential terms of the PID algorithm are adjustable control parameters, denoted by A p ,A i ,A d ; The strategy trajectory generation unit is used to obtain the position and speed information of the vehicles around the current vehicle from the lane control module, and select the strategies of acceleration, deceleration, keeping straight, and changing lanes left or right for the current vehicle, adjust the target speed and target lane center line of the vehicle speed PID control unit and the vehicle steering wheel angle PID control unit, and generate the corresponding strategy trajectory; specifically: For acceleration and deceleration strategies, the current target speed of the vehicle speed PID control unit is adjusted To achieve this, use To replace the target rate, where Δs is the target rate increment. When Δs is a positive number, it indicates an acceleration strategy, and when Δs is a negative number, it indicates a deceleration strategy. For the keep straight strategy, no adjustment is made; for the left and right lane change strategy, the vehicle steering wheel angle PID control unit is adjusted to the center line of the lane currently being followed c t To achieve this, use c t Left or right lane center line c' t+1 To replace the following lane centerline; For selecting the vehicle's current strategy, heuristic rules are used to judge based on the vehicle's driving status and information about surrounding vehicles. When the speed of the vehicle in front of the vehicle is less than the vehicle's current speed and there is a risk of rear-end collision, a deceleration or lane change strategy is selected; when the speed of the vehicle in front of the vehicle is greater than the vehicle's current speed, an acceleration or straight-ahead strategy is selected; if there are multiple feasible strategies under the current state, a random selection strategy is introduced.

3. The system for generating multi-strategy trajectories in a high-precision map based on PID control according to claim 2, characterized in that: The lane control module comprises: The vehicle management unit is used to manage the vehicle control modules corresponding to the vehicles on the lane, maintain the front and rear sequence information of the vehicles, and support operations such as adding, deleting, and querying the vehicle information on the lane; The lane information interaction unit is used to support information interaction between different lane control modules. By maintaining a linked list structure, it maintains the numbers of the left and right adjacent lanes for each lane, thereby supporting vehicle information interaction between adjacent lanes and assisting the lane control module to generate lane change strategy trajectories.

4. The system for generating multi-strategy trajectories in a high-precision map based on PID control according to claim 3, characterized in that: The global control module comprises: The lane management unit is used to manage all lane control modules, support the creation, deletion, and query operations of lane control modules, and exchange information with all vehicle control modules through lane control modules; The trajectory generation unit is used to call all vehicle control modules through the lane management unit. When generating the trajectory, it first selects strategies for all vehicle control modules, and then calls each vehicle control module in turn. In one call, each vehicle control module uses the physical model to calculate the vehicle state of the next time frame based on the information of the controlled vehicle. The specific formula is as follows: Among them, Δt represents the interval between adjacent time frames, p t represents the current position of the vehicle, v t Indicates the current speed of the vehicle, o t Indicates the current orientation angle of the vehicle, a t represents the current steering wheel angle of the vehicle, l represents the distance between the front and rear axles of the vehicle, and p t+1 represents the position of the vehicle in the next time frame, o t+1 represents the direction of the vehicle in the next time frame; after that, the above process is iterated N times to generate the strategy trajectory of N consecutive time frames. The trajectory generation unit converts the trajectory information p t+1 ,p t+2 …,p t+N Stored in the computer's storage medium.

5. The system for generating multi-strategy trajectories in a high-precision map based on PID control according to claim 4, characterized in that: The high-precision map module includes: A map information storage unit, including a storage medium in a computer, for storing map information, including coordinate information of lane center lines in the map, wherein any lane center line is composed of a two-dimensional point coordinate sequence, and is represented as a polyline formed by sequentially connecting the points in the sequence; The map information query unit is implemented by a grid data structure and is used to support efficient query operations on map information, including querying the coordinate information of the lane centerline of a specified lane, querying the adjacent lane information of a lane, and querying the lane centerline closest to a given vehicle coordinate.

6. The system for generating multi-strategy trajectories in a high-precision map based on PID control according to claim 5, characterized in that: The specific workflow is as follows: (1) Obtaining the vehicle's initialization information as system input, including the vehicle's coordinates, speed, heading angle, steering wheel angle, target speed, and strategy information; (2) Use the high-precision map module to import map information, including the coordinate information of the lane centerline, and locate the lane where each vehicle is located; (3) Use the global control module to create lane control modules for all lanes, and use the lane control module to create and manage vehicle control modules for each vehicle to generate a strategy trajectory for the next time frame for each vehicle; (4) Use the global control module to iterate multiple times to generate a strategy trajectory for each vehicle over a continuous period of time.

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